MC_HomeAll Overview

Element Name	Element Type	Description
Execute	Input	Edge detected request to execute the function block.
Position	Input	Specify the position of the axes when the reference signal is detected.
BufferMode	Input	Specify the sequential operation setting of the function block. See BufferMode Table.
Done	Output	Indicates the operation of the function block is finished.
Busy	Output	Indicates the function block is currently being executed.
Active	Output	Indicates the function block is controlling the selected axes.
CommandAborted	Output	Indicates the function block execution was aborted.
Error	Output	Indicates whether an error occurs or not.
ErrorID	Output	Error Identification number.

BufferMode Table

Sections 6.1.4 and 8.2.10 of the XMC user manual provide more information about buffer modes.

Value	Buffer Mode	Description
0	Aborting	Abort previous command and execute the command immediately.
1	Buffered	Execute the command after previous command is completed.
2	BlendingLow	The new command is blended into a previously executed command using the lower velocity value when comparing the previous command and new command.
3	BlendingPrevious	The new command is blended into a previous command using the velocity of the previous command.
4	BlendingNext	The new command is blended into a previous command using the velocity from the new command.
5	BlendingHigh	The new command is blended into a previous command using the higher velocity value when comparing the previous command and new command.

LS Electric iX7NH Supported Homing Methods

See iX7NH manual for timing charts for these supported homing methods.

Homing Method Number	Description
1	The drive returns to the home position by the negative limit switch (NOT) and the Index (Z) pulse while driving in the negative direction.
2	The drive returns to the home position by the positive limit switch (POT) and the Index (Z) pulse while driving in the positive direction.
7,8,9,10	The drive returns to the home position by the home switch (HOME) and the Index (Z) pulse while driving in the positive direction. When the positive limit switch (POT) is input during homing, the drive switches its driving direction.
11,12,13,14	The drive returns to the home position by the home switch (HOME) and the Index (Z) pulse while driving in the negative direction. When the negative limit switch (NOT) is input during homing, the drive switches its driving direction.
24	The drive returns to the home position by the home switch (HOME) while driving in the positive direction. When the positive limit switch (POT) is input during homing, the drive switches its driving direction.
28	The drive returns to the home position by the home switch (HOME) while driving in the negative direction. When the negative limit switch (NOT) is input during homing, the drive switches its driving direction.
33	The drive returns to the home position by the Index (Z) pulse while driving in the negative direction.
34	The drive returns to the home position by the Index (Z) pulse while driving in the positive direction.
35	Sets the current position as the home position.
-1	The drive returns to the home position by the negative stopper and the Index (Z) pulse while driving in the negative direction.
-2	The drive returns to the home position by the positive stopper and the Index (Z) pulse while driving in the positive direction.
-3	The drive returns to the home position only by the negative stopper while driving in the negative direction.
-4	The drive returns to the home position only by the positive stopper while driving in the positive direction.
-5	The drive returns to the home position only with the home switch (HOME) while driving in the negative direction.
-6	The drive returns to the home position only with the home switch (HOME) while driving in the positive direction.

Changing Homing Method in the SDO Parameters

Step	Action
1	In the Motion DataèEtherCAT ParameterèSlave section, double-click on the slave to modify.
2	Select SDO Parameter in the Slave window that opens up.
3	Find the Homing Method parameter. Some servo drives will support modifying Homing speeds and Homing Acceleration.
4	Double-click on the Set value column to open a pop-up window.
5	Enter the Homing method value from the chart in LS Electric iX7NH Supported Homing Methods. Press OK when done.
6	Save your project. Write it to your project if you are ready to test your code.